SimpleMapsManager Class Reference

A plugin-based map manager using the SimpleMap data structure. More...

#include <SimpleMapsManager.hpp>

Inheritance diagram for SimpleMapsManager:

Collaboration diagram for SimpleMapsManager:

Public Member Functions
virtual std::expected< void, std::string >	on_initialize () override
	Initializes the maps manager.
void	set_dynamic_map (const SimpleMap &new_map)
	Replaces the current dynamic map.
void	set_static_map (const SimpleMap &new_map)
	Replaces the current static map.
	SimpleMapsManager ()
	Default constructor.
virtual void	update (NavState &nav_state) override
	Updates the internal maps using the current navigation state.
	~SimpleMapsManager ()
	Destructor.

Protected Attributes
std::string	map_path_
	Full path to the map file.

Detailed Description

A plugin-based map manager using the SimpleMap data structure.

This manager implements a minimal mapping approach using boolean grid maps (SimpleMap) for both static and dynamic maps. It supports publishing and receiving ROS occupancy grids.

Constructor & Destructor Documentation

SimpleMapsManager()

SimpleMapsManager

(

)

Default constructor.

~SimpleMapsManager()

~SimpleMapsManager

(

)

Destructor.

Member Function Documentation

on_initialize()

std::expected< void, std::string > on_initialize ( )

overridevirtual

Initializes the maps manager.

Creates necessary publishers/subscribers and initializes the map instances.

Returns

std::expected<void, std::string> Success or error string.

set_dynamic_map()

void set_dynamic_map

(

const SimpleMap &

new_map

)

Replaces the current dynamic map.

Parameters

new_map

Shared pointer to a new map object. Must be of type SimpleMap.

set_static_map()

void set_static_map

(

const SimpleMap &

new_map

)

Replaces the current static map.

Parameters

new_map

Shared pointer to a new map object. Must be of type SimpleMap.

update()

void update ( NavState & nav_state )

overridevirtual

Updates the internal maps using the current navigation state.

Intended to be called periodically. May perform dynamic map updates based on new sensor data or internal state.

Parameters

nav_state

Current state of the navigation system.

Member Data Documentation

map_path_

std::string map_path_

protected

Full path to the map file.

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The documentation for this class was generated from the following files:

• easynav_simple_maps_manager/include/easynav_simple_maps_manager/SimpleMapsManager.hpp
• easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp